version: 66.12
glider: 196
mission: 7
dive: 324
start: 9 11 114 3 5 22
data:
$ID,196
$MISSION,7
$DIVE,324
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54281
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0043000001
$HD_B,0.012
$HD_C,4.3e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,676.53741
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7582.1133
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,208
$PITCH_MAX,3896
$C_PITCH,2895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2760
$C_ROLL_CLIMB,2740
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3258
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-73.350418
$PRESSURE_SLOPE,0.0001164176
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044209026
$SEABIRD_T_H,0.00065043929
$SEABIRD_T_I,2.5803243e-05
$SEABIRD_T_J,3.1106315e-06
$SEABIRD_C_G,-9.7475271
$SEABIRD_C_H,1.1204907
$SEABIRD_C_I,-0.00083350006
$SEABIRD_C_J,0.00013962483
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,110914,025554,7440.412,-14148.300,31,0.8,51,24.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-75.5
$GPS2,110914,030502,7440.413,-14148.210,5,0.9,26,24.2
$SPEED_LIMITS,0.201,0.252
$TGT_NAME,3
$TGT_LATLONG,7445.000,-14030.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,53.2,39034,-22.3,-11.628,-24.76,1933
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.69,-145.9,206,2772,436,544,0.0,0.0,0,91,0.00,0.00,-72.12,0.000,16386,0.000,0.000,204,2772,2286,2289,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.69,-145.9,205,2772,2291,2285,3.6,-3.1,7,142,12.38,1.85,-28.12,0.000,18692,0.403,0.124,2657,3783,3858,3921,3796,0,0,0,0,0,0,13.90,14.20,14.45
$GC,367,-0.69,-145.9,2658,3784,3921,3801,89.8,-24.0,62,374,0.00,1.73,0.00,0.000,1030,0.000,0.052,2657,2750,3860,3920,3800,0,0,0,0,0,0,28.83,14.30,28.83
$GC,672,-0.69,-145.9,2657,2750,3922,3800,152.9,-19.6,93,677,0.00,1.85,0.00,0.000,260,0.000,0.097,2649,3795,3860,3921,3800,0,0,0,0,0,0,28.83,14.30,28.83
$GC,902,-0.69,-145.9,2649,3796,3921,3801,198.7,-20.0,139,907,0.00,1.73,0.00,0.000,1030,0.000,0.053,2649,2755,3860,3921,3800,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1212,-0.69,-145.9,2649,2755,3922,3800,250.7,-15.4,171,1217,0.00,1.83,0.00,0.000,260,0.000,0.100,2640,3785,3860,3921,3800,0,0,0,0,0,0,28.83,14.34,28.83
$GC,1329,-0.69,-145.9,2641,3785,3922,3800,270.0,-16.5,194,1335,0.12,1.65,0.00,0.000,3078,0.269,0.054,2665,2760,3860,3921,3800,0,0,0,0,0,0,14.17,14.49,28.83
$GC,1634,-0.69,-145.9,2670,2760,3922,3800,310.7,-12.9,205,1638,0.00,2.33,0.00,0.000,516,0.000,0.064,2665,1370,3860,3920,3800,0,0,0,0,0,0,28.83,14.43,28.83
$GC,1678,-0.69,-145.9,2665,1370,3922,3800,316.3,-12.0,214,1683,0.00,2.45,0.00,0.000,1030,0.000,0.097,2662,2750,3859,3920,3799,0,0,0,0,0,0,28.83,14.39,28.83
$GC,1995,-0.69,-145.9,2669,2751,3921,3800,356.3,-12.4,227,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2750,3858,3921,3795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2293,-0.69,-145.9,2662,2751,3922,3800,393.1,-12.2,237,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2593,-0.69,-145.9,2662,2751,3922,3800,429.5,-12.1,247,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.69,-145.9,2663,2751,3921,3800,465.5,-11.9,257,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,-0.69,-145.9,2663,2751,3921,3801,501.1,-11.7,267,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3495,-0.69,-145.9,2662,2750,3922,3800,536.0,-11.6,277,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-0.69,-145.9,2663,2751,3921,3800,570.3,-11.2,287,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4093,-0.69,-145.9,2663,2750,3921,3800,604.2,-11.3,297,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4393,-0.69,-145.9,2663,2751,3921,3801,638.2,-11.3,307,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2751,3859,3920,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4693,-0.69,-145.9,2663,2752,3921,3801,672.1,-11.4,317,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2751,3860,3921,3800,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4993,-0.69,-145.9,2663,2750,3922,3800,705.9,-11.3,327,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2751,3860,3921,3799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5293,-0.69,-145.9,2663,2751,3922,3800,739.4,-11.2,337,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2750,3860,3920,3800,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5411,begin apogee
$GC,5416,-0.13,0.0,2663,2751,3922,3800,752.6,-11.0,341,5546,0.70,0.00,127.47,2.006,10244,0.218,0.000,2847,2751,3258,3275,3241,0,0,0,0,0,0,14.21,28.83,13.00
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5549,0.69,145.9,2848,2751,3271,3236,756.3,0.0,345,5686,0.90,1.95,125.93,1.844,10500,0.137,0.102,3105,3785,2655,2662,2648,0,0,0,0,0,0,13.71,13.73,12.59
$GC,5911,0.69,145.9,3106,3785,2664,2648,716.9,14.5,420,5916,0.00,1.77,0.00,0.000,1030,0.000,0.049,3113,2742,2654,2662,2646,0,0,0,0,0,0,28.83,13.94,28.83
$GC,6228,0.69,145.9,3114,2743,2663,2646,675.8,12.9,433,6232,0.00,2.38,0.00,0.000,516,0.000,0.063,3124,1346,2653,2662,2645,0,0,0,0,0,0,28.83,14.26,28.83
$GC,6457,0.69,145.9,3125,1345,2663,2645,648.1,11.8,479,6462,0.00,2.47,0.00,0.000,1030,0.000,0.090,3124,2747,2653,2662,2644,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6767,0.69,145.9,3125,2747,2663,2644,607.0,13.4,491,6772,0.00,2.35,0.00,0.000,516,0.000,0.063,3134,1350,2653,2662,2644,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6883,0.69,145.9,3136,1351,2663,2645,592.8,12.3,514,6889,0.00,2.45,0.00,0.000,1030,0.000,0.090,3140,2740,2652,2662,2643,0,0,0,0,0,0,28.83,14.39,28.83
$GC,7187,0.69,145.9,3135,2740,2663,2644,551.3,13.6,525,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7487,0.69,145.9,3136,2741,2663,2645,510.0,13.7,535,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7787,0.69,145.9,3136,2740,2663,2644,469.1,13.7,545,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8087,0.69,145.9,3135,2740,2663,2644,428.5,13.5,555,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,0.69,145.9,3136,2741,2663,2645,388.9,13.2,565,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8687,0.69,145.9,3136,2741,2663,2645,350.6,12.5,575,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,2740,2653,2662,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8987,0.69,145.9,3135,2741,2663,2645,314.5,11.8,585,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,2740,2652,2661,2644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9287,0.70,156.1,3135,2740,2664,2644,280.5,11.1,595,9302,0.00,2.35,9.15,1.373,8708,0.000,0.064,3145,1332,2615,2624,2607,0,0,0,0,0,0,28.83,14.57,13.88
$GC,9352,0.71,167.7,3145,1333,2625,2607,273.2,11.0,608,9367,0.00,2.47,10.38,1.349,9222,0.000,0.090,3145,2746,2572,2578,2566,0,0,0,0,0,0,28.83,14.46,13.85
$GC,9667,0.72,190.4,3146,2746,2578,2563,236.3,10.4,630,9689,0.00,0.00,20.00,1.280,8198,0.000,0.000,3142,2746,2479,2485,2473,0,0,0,0,0,0,28.83,28.83,13.80
$GC,9987,0.76,250.1,3146,2746,2483,2467,205.1,8.5,662,10043,0.00,2.40,49.92,1.258,8708,0.000,0.063,3155,1350,2232,2234,2231,0,0,0,0,0,0,28.83,14.23,13.61
$GC,10053,0.79,287.3,3156,1350,2233,2231,199.0,9.6,671,10089,0.00,2.50,32.15,1.329,9222,0.000,0.090,3155,2748,2084,2086,2083,0,0,0,0,0,0,28.83,14.19,13.47
$GC,10388,0.79,287.3,3156,2748,2084,2067,157.7,12.2,708,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2748,2074,2082,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10688,0.80,307.4,3156,2749,2083,2066,124.2,10.6,738,10709,0.00,0.00,16.15,1.207,8710,0.000,0.000,3155,2747,1997,2006,1989,0,0,0,0,0,0,28.83,28.83,13.74
$GC,11009,0.82,327.6,3156,2748,2007,1983,90.8,10.6,772,11024,0.00,2.45,8.25,0.457,8708,0.000,0.063,3164,1350,1923,1928,1918,0,0,0,0,0,0,28.83,14.26,13.91
$GC,11109,0.85,371.0,3165,1351,1937,1919,81.1,9.3,792,11134,0.00,2.50,20.55,0.431,9222,0.000,0.090,3164,2751,1744,1749,1740,0,0,0,0,0,0,28.83,14.23,13.93
$GC,11439,0.90,450.6,3165,2752,1755,1735,52.0,7.4,828,11480,0.00,0.00,36.22,0.341,8198,0.000,0.000,3164,2751,1419,1435,1403,0,0,0,0,0,0,28.83,28.83,13.95
$GC,11781,1.00,595.0,3165,2752,1440,1388,34.9,3.9,862,11851,0.15,2.47,64.70,0.287,10756,0.119,0.065,3239,1352,835,829,841,0,0,0,0,0,0,14.23,14.19,13.98
$GC,11933,1.07,682.5,3240,1353,830,834,23.7,7.0,892,11978,0.00,2.55,37.72,0.271,9222,0.000,0.090,3238,2760,498,448,549,0,0,0,0,0,0,28.83,14.16,13.93
$FREEZE,8.66,-1.210,-1.424,2,1,0
$FREEZE,7.96,-1.204,-1.423,2,1,0
$FREEZE,7.26,-1.206,-1.423,2,1,0
$FREEZE,6.61,-1.212,-1.422,2,1,0
$FREEZE,5.97,-1.205,-1.422,2,1,0
$FREEZE,5.25,-1.205,-1.421,2,1,0
$FREEZE,4.55,-1.206,-1.420,2,1,0
$FREEZE,3.86,-1.209,-1.420,2,1,0
$FREEZE,3.12,-1.209,-1.419,2,1,0
$FREEZE,2.40,-1.206,-1.419,2,1,0
$FREEZE,1.67,-1.212,-1.418,2,1,0
$STATE,12242,end climb,SURFACE_DEPTH_REACHED
$STATE,12242,begin surface coast
$FREEZE,1.02,-1.216,-1.418,2,1,0
$FREEZE,1.01,-1.282,-0.077,2,1,0
$FINISH,1.0,1.000863
$STATE,12262,end surface coast,FINISH_DEPTH_REACHED
$STATE,12262,begin surface
$SM_CCo,12339,0.00,0.000,0,0,495,677.76
$SM_GC,2.01,9.40,0.00,0.00,0.085,0.000,0.000,202,2760,495,-8.36,0.00,677.76,0,0,0,0,0,0,14.33,28.83,28.83
$RAFOS_CLK,453
$RAFOS_FIX,7443.150879,-14155.582031,100914,202043,2,255,10.71
$IRIDIUM_FIX,7358.04,-14149.65,100914,232412
$TT8_MAMPS,0.044191,0.044191
$HUMID,45.58
$INTERNAL_PRESSURE,8.54327
$TCM_TEMP,12.50
$XPDR_PINGS,14
$SC_FREEKB,3793472
$24V_AH,12.59,100.630
$10V_AH,12.65,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.650,48.475,558.600,0.000,0.000,0.000,0.000,343.275,3.500,0.000,27.939,0.000,9832.629,617.821,2181.003,247.941,0.000,1703.872,0.000,1384.225,1497.000,0.539,0.000
$DEVICE_MAMPS,403.155,123.930,2005.830,0.000,0.000,0.000,0.000,152.235,420.000,0.000,20.970,0.000,2.310,9.470,28.950,35.690,0.000,10.000,0.000,0.750,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12313.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.451,0.000,0.000,0.000
$MEM,174392
$DATA_FILE_SIZE,33352,930
$CAP_FILE_SIZE,138047,0
$CFSIZE,2097872896,2029518848
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,12853.19,0x2378b6,7,5
$INTR,1,5412.98,0x2378b6,2,5
$INTR,2,12265.91,0x2378b6,7,5
$SOUNDSPEED,1449.4
$GPS,110914,063224,7440.283,-14142.645,35,0.8,55,24.2